Economical Actuation Modules and Systems for Beds

ABSTRACT

The invention is directed to modules for installation in beds to adjustably support targeted body zones of a user. Modularization renders actively controlled bed technology available to a broad range of beds on the market including upgrading many users&#39; existing beds. Bed actuation modules include one or more lift systems connected to a mechanical support which has bed mounting devices for enabling installation of the module in a broad range of bed frames. An adjustable height platform of each lift system can be raised or lowered without necessarily changing the angle of inclination thereof. Lift systems for variable support of two zones may be actuated by single actuator in a way that provides contra-acting movement of the respective mattress support surfaces. Optionally, inclusion of a sensing and inference system enables automatic control of a bed actuation module according to the inferred orientation of a user&#39;s body.

TECHNICAL FIELD

Beds

BACKGROUND

WO 97/45040 offered a residential bed which had an inclining upper half pivoting near the midpoint of the bed, as do many hospital beds, but with the addition of a static recess in the position located under the usual position of a sleeper's shoulder and an automatically sensing and control aspect.

Existing electric adjustable beds and actively controlled automatically adjusting beds of prior art do not actively control the bed surface to relieve pressure under protruding points of a body whilst supporting other parts of the body—particularly for users who sleep both on their side and back. For example, conventional electric adjustable beds do not relieve pressure under the shoulder whilst adequately supporting the head and neck of a person who is lying on his side. In the zone of the support surface under the upper body, these designs are restricted in operation to merely changes in the angle of inclination thereof. These designs do not utilize separate degrees of freedom to control the height of the support surface under the shoulder (relative to the axis of support in the zone under the torso, inclined or otherwise) as compared to support surface under other parts of the torso. These inclining beds are intended to support someone in orientations suitable for watching television, eating and on-back sleeping but not orientations specifically for on-side sleeping. Neither do inclining beds relieve pressure under the buttocks whilst a user lies on his back. Further, prior automatically adjusting beds have motor and drive systems producing a level of noise which is unsatisfactory for automatic operation whilst a user sleeps.

Variable adjustment of localized zones in a bed involves many components thus a bed with such capabilities is expensive to manufacture. Generically finished electric adjustable inclining beds can benefit from economy of scale as many inclining beds are used hospitals and nursing homes. However, custom electric adjustable beds would have much reduced economy of scale owing to the many market segments created by a wide range of bed designs and aesthetically varied finishes that would be necessary to attract buyers. Market segmentation is compounded by varying user preferences for different combinations of on-side, on-back and on-front sleeping modes. A component-rich expensive bed customized for sleeping on-side in combination with any other orientation is likely to attract fewer buyers than people who would be satisfied with a less expensive bed customized for an on-back sleep arrangement alone. Thus, economy of scale then becomes a major issue for a non-generically finished, actively controlled bed which offer localized zone height control to suit users who need support for on-side sleeping in combination with another orientation. Most likely, it would be cost prohibitive to offer any model of such a product, let alone a wide selection of aesthetically varied models.

Some electric adjustable and automatically adjusting mattresses have been conceived; however, a mattress is subject to spills, damage and accumulation of contaminants. A bed owner may seek to renew a mattress well before any significant signs of wear appear on the supporting bed frame of the same vintage. Placing expensive components in the mattress may result in significant waste of viable electronic and mechanical equipment resulting in unnecessary cost for consumers and environmental harm. Further, such an equipment laden mattress would be unwieldy and ergonomically hazardous to handle.

A quieter, more economical solution to the problem of supporting a user in a variety of sleeping orientations is desirable, particularly a solution which is adaptable to a high proportion of bed and mattress style preferences as demanded by the market.

SUMMARY OF THE INVENTION

The solutions offered herein include modules to actively control a zone or zones of a bed in a way that can be readily fitted into a wide variety of conventional bed frames. Further, an economic system for actively controlling two zones of a bed is described by dependently driving two lift systems using a single actuator.

The inventions are directed to bed actuation modules for adjustably supporting targeted body zones of a user who is lying on a mattress support surface and economical systems for actuating two-zones dependently. Modularization renders actively controlled bed technology available to a broad range of beds on the market including upgrading many users' existing beds. This is a crucial inventive step to achieving production economy of scale wherewith the systems described herein may become affordable. Bed actuation modules described herein generally comprise a support, bed mounting devices, a lift system comprising an adjustable height platform, and an actuator all connected to the support. The actuator is also connected to the lift system such that operation of an actuator causes the height of the adjustable height platform to be adjusted. Critically, bed mounting devices have a form such that they enable a bed actuation module to be installed in a broad range of beds on the market.

When installed in a bed, a bed actuation module transforms the bed into an enhanced electric adjustable bed characterized by adjustable height zones which can be raised or lowered without necessarily changing the angle of inclination of the mattress support surface (in contrast to the classic hospital bed design which is designed to allow people to lounge in the bed whilst eating and other activities). Dimensioning the longitudinal dimension of an adjustable height platform to be much shorter than the length of a bed permits targeted parts of a user's body to be variably supported.

Besides modularization, other inventive matter is contained herein to provide economical, robust and comfortable support of particular body parts. Economy is included in the inventive matter by offering a dual contra-acting lifts system wherein two lift systems are dependently driven by a single actuator causing the adjustable height platforms to move in opposite directions. A dual contra-acting lifts system may be implemented in module form or integrated directly in a bed design.

Other inventive steps are provided herein to ensure comfort and safety when providing differential support for the neck and head relative to the shoulders, including:

-   -   a shoulder-stop for distributing the load (reducing peak         pressure on the shoulder) and prevent one's shoulder being         caught under the under-head adjustable height platform;     -   a pillow-stop which prevents one's pillow slipping over the head         of the bed or getting caught in the bed frame as the elevation         of the under-head zone is altered.

Further, a longitudinal suspension system is described to provide comfort under broad parts of the body like the shoulders and hips by somewhat conforming the local shape of the mattress support surface to the shape of a user's body. Many conventional beds have a support system which passively deform toward the middle of the sleeping lane. This feels saggy and uncomfortable. In contrast, a well positioned longitudinal suspension system passively deforms in a way that reduces peak pressure points without generating gradients that make you feel like you are about to roll into the middle of your sleeping lane.

Active control provided by the lift system(s) described herein eliminates the usual trade-off between comfort and support encountered when selecting many conventional beds. Engineered passive deformation in the longitudinal suspension system (and mattress) adds smoothness and rounding to the block shaped adjustment provided by the active control. Together, these active control and passive deformation aspects provide a highly customizable sleeping surface profile. This relieves pressure in critical places yet aligns and supports your spine as you desire. An exceptionally comfortable yet supportive sleeping surface is the result.

You can experience high levels of comfort and support simultaneously without the trade-off.

A number of formats for multiple zone modules are described herein including systems having two and three lift systems including under-head, under-shoulder and under-pelvis zones. However, any number and arrangement of lift systems is envisaged in these modules. Devices for connecting to a lift system located in under-head zone are also described for increasing the comfort provided and to secure or restrain adjacent cushions and pillows.

Optionally, a control system is envisioned in further embodiments of the inventive matter. A control system may include preset configurations saved in memory for the target position of each actuator in each of a number of bed actuation module configurations. The actuator of each lift system changes configuration until the actual position converges either to a variable target position or a selected preset configuration. Further, optional inclusion of a sensing and inference system enables automatic control of the bed actuation module configuration due to a user exerting a presence on the sensors. For example, pressure sensitive resistors may be used generating a signal according to the orientation or position of the user. Alternatively, a control signal may be generated using an infrared sensor coupled with supporting hardware and software.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an exploded view of a bed actuation module installed in a slat bed.

FIG. 2 shows an example of a simple bed actuation module.

FIG. 3 shows a bed actuation module suitable for installation in a box-frame (ensemble) bed base. This example has a pillow-stop and a shoulder-stop which make it suitable for use in the under-head zone of a bed.

FIG. 4 shows a bed actuation module having two independently actuated lift systems suitable for placement in a bed servicing the under-head and under-shoulder zones of the mattress support surface.

FIG. 5 shows a bed actuation module having two independently actuated lift systems suitable for servicing the under-head and under-pelvis zones of a mattress support surface.

FIG. 6 shows a bed actuation module having three independently actuated lift systems suitable for servicing under-head, under-shoulder and under-pelvis zones of a bed.

FIG. 7 shows a bed actuation module having two lift systems dependently driven by the same actuator.

FIG. 8 shows a bed actuation module having three lift systems, two of which are dependently driven by one actuator.

FIG. 9 shows a control system for a bed actuation module.

DETAILED DESCRIPTION OF THE DRAWINGS

FIG. 1 broadly demonstrates application of the present inventive matter showing a bed actuation module 1 embodied in a bed frame 2. The bed actuation module fits substantially within the lateral range of the bed frame 2 from one side rail 3 to the other and the longitudinal range of the bed between the bed-head 4 and the bed-end 5. Adjustable height platforms 70 of the lift system substitutes for some of the bed slats 6 of a typical bed. Together, the upper surfaces of the adjustable height platforms 70 and slats 6 comprise the entire mattress support surface 7. Guarding 8 may be included for safely and aesthetics.

A main mattress 10 extending along the entire length (longitudinal range) of the mattress support surface between the bed head 4 and bed end 5 is an embodiment that is acceptable, but one that is not preferred. A human body has a well defined step increase from the width of their neck to that of their shoulders. A well defined step in the relative levels of the mattress support surface under a user's shoulder compared to that under their head when supporting him/her lying on their side is helpful to relieve pressure under the shoulder. Thus, preferred embodiments provide an under-head mattress 250 that is separate from a main mattress 10 which extends from the under-head sub-mattress 250 to the bed end 5. Separating these two sub mattress permits a shear step transition hence better pressure relief under the shoulder of a user lying on their side as compared to the pressure relief that would be offered by a gently sloping transition.

FIG. 2 shows a very simple embodiment of the inventive matter comprising a bed actuation module 1 for actuating a single zone within a greater mattress support surface 7. The bed actuation module includes a mechanical support 110, a lift system comprising a pair of scissors lift mechanisms, an actuator system 60 and bed mounting devices 120 for mounting the apparatus to a bed frame (a feature distinguishing bed actuation modules from a scissors lifts of prior art) wherein the mechanical support 110 is dimensioned to have a plan area that fits substantially within a typical bed frame and the bed mounting devices 120 align with suitable fixing points on a typical bed frame. The mechanical support 110 may be composed of any material or plurality of materials and any number of parts. For example, the mechanical support 110 may be composed of wood, metal or plastic. The mechanical support may comprise a single part such as a base plate or may comprise several pieces similar to an open box. Light weight embodiments of the mechanical support have a more open frame structure comprising mechanical support lateral members 111 and mechanical support longitudinal members 112. Such a design may be used for box base or slat beds, although for a slat bed, preferred embodiments of the mechanical support additionally comprise mechanical support vertical members 113 to suspend the module from the slat rails.

Embodiments of the inventive matter are contemplated in the form of: slat beds, box beds, and all other bed forms. The simplest form of the bed mounting devices 120 is perhaps in the case of the box bed, which is simply a modification to the mechanical support 110 having a penetration in each corner for inserting a screw 122 to attach the mechanical support on top of longitudinal rails of the box bed frame, as per FIG. 3. Additionally, FIG. 3 shows isolation pads 124 under each corner of the mechanical support 110 to attenuate noise and vibration transfer to the bed.

FIG. 2 shows bed mounting devices 120 for mounting and suspending the scissors lift system to the slat rails on the side rails of a slat bed. In embodiments of the inventive matter which suspend the bed actuation module from a slat rail, a mechanical support mounting device 120 consists of tabs 121 projecting horizontally from a vertical member 113 of the mechanical support 110. To prevent longitudinal movement of a scissors lift module, these tabs may simply sit in narrow depressions as provided in the slat rails some slat bed frames. In preferred embodiments, the tabs have screw holes and screws 122 are used to secure the bed actuation module to the side rails of the bed frame with an isolation device 124 placed in between the frame mounting device 120 and the bed to absorb vibration and attenuate transmission of sound.

FIG. 4 shows a bed mounting device 120 suitable for fixing the bed actuation module to vertical surfaces of a bed frame. Embodiment of the inventive matter which utilize a bed mounting device for mounting to a vertical surface require less material and would have a slight manufacturing cost advantage. However, the horizontal tabs 121 in embodiments of the bed mounting device such as that shown in FIG. 3 offer ergonomic advantage as the module's load is self supported whilst a user installs the fixing screws.

All types of actuator systems and lift systems are embodied in the modularized systems of the inventive matter. It is noted that a bed actuation module is characterized by inclusion of bed mounting devices, not the type of lift system selected. Actuators comprising electric motors and concealed lead screws, and scissor lift systems are depicted in the figures merely as examples.

All types of lift systems are embodied in the modularized systems of the inventive matter. For example, kinetic energy may be affected by a hydraulic, pneumatic or electromechanical source of force. Elevation of each adjustable height platform may be directed using any mechanism which may include any type of bearing system. Further, actuators of any type of may be selected, for example: a piston, bladder, or lead screw may be used.

Embodiments of the inventive matter in which a scissors lift type system is selected for the lift system, any suitable scissors lift arrangement may be selected. The particular scissor lift arrangements depicted in the figures are merely an example to facilitate enablement. Ideally, the selected arrangement for a scissors lifts system 19 and the linear actuator 60 of a bed actuation module 1 functions smoothly and quietly. FIG. 2 shows a lift system 19 which conforms to a scissors lift type. The scissor lift system 19 comprises a pair of scissors mechanisms 20, a travelling cross member 50 and an adjustable height platform 70. Each scissors mechanism 20 comprises an anchored scissors leg 21, a floating scissors leg 22, an upper bearing system 30, and a lower bearing system 40. The floating scissors less is connected to the anchored scissors leg at their centre points by a pin 24. The floating scissors leg 22 uses a further pin 24 at the top for connecting to the adjustable height platform 70 and a pin 24 at the bottom for connecting to the travelling cross member. The anchored scissors leg 21 uses a pin 24 at the top to connect to the upper bearing system 30 and a pin 24 at the bottom to connect to the mechanical support 110. FIG. 2 shows an embodiment of the inventive matter in which a scissors lift system has two pair of each of the scissors mechanisms arranged in parallel; however, any number of these components may be included in parallel.

The makeup of the upper 30 and lower bearing systems 40 embodied vary according to the various levels of quality required. Preferred embodiments of the inventive matter include upper bearing systems 30 and lower bearing systems 40 which consist of a guide and a bearing block which mates to the guide rail in a way to prevent rattling or derailing of the block and any significant movement in directions other than along the axis of the guide. For example: box-way, dovetail-way or a bearing blocks having recirculating ball bearing could be used. FIG. 2 shows a scissors mechanism comprising two lower linear bearing systems 40, each comprising a lower guide rail 41 and a lower bearing block 42; and two upper bearing systems each including an upper guide rail 31 and an upper bearing block 32. However, alternative bearing systems utilizing a block sliding through a c-channel section are also embodied, as is any other system to direct the movement of the pins 24.

Each scissors lift system in a module may be jogged up and down as little as several time per day to a dozen times per day, hence the application would be considered light duty. A plastic guide rail and mating plastic sliding block without any ball bearings or roller bearing is envisaged for economical embodiments. However, smooth, non-binding, reliable action is desired over a service life free of lubrication and maintenance; hence, guide rails and blocks made from a durable material like steel are envisioned for preferred embodiments of the inventive matter.

Still considering FIG. 2, the adjustable height platform 70 includes a pair of adjustable height platform longitudinal frame members 71 each of which is fixed to an upper guide rail 31. Simple embodiments of the inventive matter include a single platform lateral frame member 72 which bridges connects the platform longitudinal frame members 71 and has a breadth similar to the length of the platform longitudinal frame members 71 forming a “deck”. Ideally, the deck material type and thickness is selected such that measurable flexing of the deck may be observed when subject to the partial weight of a user lying across the surface, yet does not break or show any significant permanent deformation when subject to the entire weight of a user standing on the adjustable height platform. For application in zones under protruding body parts such as the shoulder and hip, the “deck” ideally displaces approximately ¼ inch (6.35 mm) at the centre point when subjected the load of a user laying on their side on the mattresses (10 and 250, FIG. 1) situated on the mattress supporting surface (7, directly over the lateral centre point of the adjustable height platform 70 of concern).

FIG. 2 shows travelling cross member assembly 50 comprising: a travelling cross member 51 fixed to each of the lower bearing blocks 42 causing the lower bearing blocks to dependently move in the same direction on parallel axes, mounting points 53 for connection to each of the floating scissor legs 22 and an actuator dynamic end mounting point 54. Coupling points are provided at the dynamic end of the actuator and the static end. The linear actuator 60 is connected to the mechanical support 110 via an actuator static end mounting point 114 fixed to one of the mechanical support lateral members 111. In alternative embodiments of the inventive matter, the dynamic end of the actuator couples to a torsion cross member which is attached the inner scissor legs locking them in rotational dependence. For applications in which embodiment of a quiet linear actuator is desired, inclusion of a brushless direct current type motor and bevel or helical first stage gearing and rotational speeds which offer low noise are preferred. Alternative embodiments of the linear actuator motors include the following types: a direct current motor having a commutator and a plurality of brushes; a digital motor; a stepper motor; and an alternating current motor.

Besides modularization, other inventive matter is contained herein to provide economical, robust and comfortable support of particular body parts: robustness of operation is facilitated by inclusion of a pillow-stop to prevent any mattress or user's pillow from becoming displaced from the under-head zone; comfort is afforded for the shoulder by inclusion of a shoulder-stop below the edge of the adjustable height platform servicing the under-head zone, and further comfort is afforded by inclusion of a longitudinal suspension system, and finally economy is offered by using one actuator to actuate two zones dependently.

Support of a person's body in the under-head and under-shoulder zones offers specific challenges for a bed actuator module invention. FIG. 3 shows features of enhanced embodiments of a scissors lift system servicing the under-head zone including a shoulder-stop 210. The shoulder-stop 210 is included and is connected to the adjustable height platform either by attachment to the platform longitudinal frame members 71 or to any other part of the adjustable height platform. The shoulder-stop 210 distributes the reaction force against the user's shoulder over a greater area as compared to that offered by the edge of the adjustable height platform lateral member 71 thus reducing pressure exerted on the shoulder of a user and improving comfort. The material selection for the shoulder-stop 210 is such that flexibility is provided. Ideally, the shoulder-stop displaces around ¼ inch (6.35 mm) at the centre point when subjected a high load of a user laying on his side and firmly pressing his shoulder against the vertical face of the under-head mattress and does not break or suffer any significant permanent deformation when subject to an impulse caused by the person falling or otherwise colliding against the vertical face of the under-head mattress.

To help prevent rotation and displacement of the under-head mattress 250 (FIG. 1), a pillow-stop 211 is included. The pillow-stop 211 is a sheet of some stiff but durable material, such as wood or plastic, having a long side approximately equal to the length of the adjustable height platform 70. The pillow-stop is connected to the adjustable height platform 70 via fixing to any of the following: platform frame longitudinal members 71, platform frame lateral member 72, adjustable height platform decking 73, and directly to the pair of upper linear rails 31. The broad face of the pillow-stop 211 is aligned vertically with the long edge approximately aligned with the edge of the adjustable height platform 70 which is parallel to and on the opposite side of the adjustable height platform 70 as to the position of the shoulder-stop 210. When utilized and fitted in place, the vertical section of the under-head mattress 250 (FIG. 1) sits against the shoulder-stop 210 and the horizontal section horizontal section of the under-head mattress 250 entirely covers the upper horizontal surface of the adjustable height platform with one edge touching the pillow-stop 211. Optionally, the under-head mattress 250 is detachably connected to any combination of adjustable height platform 70 (or components thereof), the pillow-stop 211 and the shoulder-stop 210.

An enhanced embodiment of the adjustable height platform 70 includes a longitudinal suspension system to provide support without causing a user's body to roll to the centre of the deck. FIG. 4 shows a scissors lift system crowned with an adjustable height platform 70 enhanced with a longitudinal suspension system. A longitudinal suspension system is an arrangement for an adjustable height platform 70 comprising two platform lateral frame members 72 arranged in parallel and separated by a gap such that his outer-most long edges run from one end of a platform longitudinal member 71 to the end of the other platform longitudinal member 71, both being connected to the platform longitudinal frame member. The platform lateral frame members 72 have a gently sloping face descending toward the edges closest to the other platform lateral member 72. A flexible board 73 is connected to each platform lateral member 72 bridging the gap there between. The type of fixings used to connect the flexible board 73 to the platform lateral frame members 72 permits flexing of the flexible board by allowing movement of the surface in the longitudinal direction of the bed. In preferred embodiments, the platform lateral frame members 72 displaces approximately 0 to ⅛ inch (0.8 mm) and the flexible board 73 ideally displaces around ¼ inch (6.35 mm) at the centre point when subjected the load of a user laying on his side on the mattress (10, FIG. 1) directly over the lateral centre-point of the adjustable height platform 70 of concern yet does not break or suffer any substantial permanent deformation when subject to the entire weight of a person of above average weight standing on the flexible board. The longitudinal suspension system is particularly effective at relieving peak pressures under a user's body when the aligned (vertically below) protruding parts of the user's body in the zone of said body part, particularly for the shoulders (under-shoulder zone), and the hips and buttocks (under-pelvis zone). Wood, laminated wood, plywood, plastic or any other material displaying the above properties may is selected when a longitudinal suspension system is embodied.

Ideally, an adjustable bed is adjustable in multiple zones. Preferred embodiments of the inventive matter provide a plurality of scissors lift systems 19, especially those servicing combinations of zones including under-head, under-shoulder and under-pelvis zones. In embodiments employing a plurality of scissors lift systems, the plurality of scissors lift systems are either independently driven by a plurality of actuators wherein each actuator has a one is to one correspondence with a scissors lift system or, in a special case, two of the plurality of scissors lift systems are dependently driven by one actuator. In either case, two or more different scissors lift systems may each have separate lower guides rails 41 (e.g. FIG. 5) or they can share an extended length of lower guide rail (e.g. FIG. 4). The longitudinal centre position of an adjustable height platform relative to the origin point for a mechanical support 110 is essentially determined by: the longitudinal position at which the bottom pivot point of the anchored scissors legs 21 connects to the mechanical support 110 (mounting point), and the longitudinal component of the distance between the centre of an adjustable height platform 70 and the point where the floating scissors leg 22 connects to the adjustable platform longitudinal frame member 71 (mount to centre). Using this formulaic approach, the bed actuation module is designed such that the distance between the centers of the adjustable height platforms corresponds to the zone intended to be serviced by the scissors lift, and the geometry of the intended user. FIG. 4 shows a two-zone embodiment of the inventive matter having independently operating scissors lift systems intended to service the under-head zone (under-head lifter, 300) plus another scissors lift system relatively positioned to be aligned to the under-shoulder zone (under-shoulder lifter, 400). FIG. 5 shows another two-zone bed actuation module comprising independently operating under-head lifter 300 plus another scissors lift system relatively positioned to be aligned to the under-pelvis zone (under-pelvis lifter, 500). FIG. 6 shows an embodiment of the inventive matter comprising three independently operating scissors lift systems including an under-head lifter 300, under-shoulder lifter 400 and an under-pelvis lifter 500. However, the inventive matter herein embodies all combinations of geometry for placement of the adjustable height platforms 70 conditional only on the serviced zones being non-overlapping in space.

An economical embodiment of the inventive matter which includes scissors lift systems in the under-head and under-shoulder zones is a dual contra-acting scissors lifts system for simultaneously adjusting both zones using a single actuator. The two scissors lift systems are rigidly linked by a connecting member 80 which is fixed to both the travelling cross member for the under-head lifter 300 and the travelling cross member of the under-shoulder lifter 400. When driven in either direction by the actuator, the adjustable height platform servicing the under-head zone moves in the opposite direction to the adjustable height platform servicing the under-shoulder zone. The dual contra-acting scissors lift systems trade flexibility in zone height configuration for reduced components hence reduced manufacturing cost. The relationship between the height of the user's pillow and the pressure under the shoulder can still be altered via use of shims between the decks of the adjustable height platforms 70 and the mattress components (10 and 250) but a significant economization in component use is achieved by eliminating one actuator. Another advantage to this simplification is that a user has one variable to consider when configuring set points.

FIG. 7 shows a bed actuation module which comprises dual contra-acting scissors lifts system servicing the under-head and under-shoulder zones whilst FIG. 8 show a bed actuation module which combines a dual contra-acting scissors lifts system servicing under-head and shoulder zones plus an under-pelvis lifter 400.

Anticipated benefits of an adjustable bed can only be realized when a system is in place to control the actuators. All of the previous embodiments described are further extended to embodiments which include a control box mount, a power supply, a control system and an electronics enclosure.

The control system may comprise: an interface for receiving signals from external equipment, bi-directional motor driver switching circuitry, power insulated conductors conductively connecting motor drivers outputs to the corresponding actuator motor, position feedback signal conductors, and logic processing circuitry (non-programmable logic gates or programmable circuitry). Position feedback signal conductors conductively connect the position sensing system of an actuator to the logic processing circuitry. The logic processing circuitry triggers the desired motor driver outputs to drive the actuators via feedback control to set point received via the interface. Once the measured position is within a predefined dead-band tolerance of the set point, the motors driver output changes such that the actuators stop until a new set point is received. The control system circuitry is mounted within an electronics enclosure 700 which is either connected to the mechanical support 110 thus securing the electronics enclosure to the mechanical support 110 as shown in FIG. 6, or mounted directly to the intended bed frame. In FIG. 5 an electronics enclosure 700 is mounted to the mechanical support 110 via a control box mount 115 provided for the connection. Alternatively, the electronics enclosure may be fixed to the outward facing surface of the bed actuation module being fixing to the guarding (8, FIG. 1). All possible positions for fixing the control box mount to the mechanical support 110 are embodied; however, locations which permits the user to easily connect a human machine interface to the control system, one which protects the electronics enclosure from clashing with the scissors mechanisms and accidental impacts and one which facilitates cable management free from clashes with the scissors mechanisms and accidental impacts are preferred.

Safety should be a concern for all products. Preferred embodiments of the inventive matter have guarding to keep parts of people, animals and objects away from pinch points and protect the same from hard, unrounded edges and points. Types of guarding embodied include rigid or semi-rigid guarding attached to static parts of the scissors lifts module, and flexible guarding connected between static and non-static parts of the scissors lifts module. FIG. 1 shows rigid guarding 8 in an exploded view which would usually be fixed to the mechanical support to prevent intrusion of any object into the space from beside. For embodiments in which the mechanical support is selected to be an open frame, inclusion of guarding on all faces of the mechanical support is preferred. Materials for the rigid guarding (including fixings for attaching the rigid guarding to the mechanical support 110) in preferred embodiments are able to withstand impact such as accidental collision with vacuum cleaners and other objects such as with a bowling ball and other typical under-bed stored items. Guarding includes penetrations required for any wired interfaces and push buttons as required by the installed control system. Whilst the appearance of most faces of the rigid guarding is relatively inconsequential, it is preferable that guarding on the face visible from beside the bed has an aesthetically pleasing finish. In preferred embodiments, guarding on the front panel has pleasing appearance such as brushed metal, polished metal, checker plate, plastic, natural wood, laminated wood, composite wood or any other finish considered attractive or fashionable whilst providing the required mechanical properties and rounded edges to avoid injury upon contact with a foot. In embodiments of the inventive matter in which a control box, one which provides an interface for wired connections, is mounted to the mechanical support, a penetration is provided in the front panel in alignment with the connection point on the control box. Where such a penetration exists, preferred embodiments include a thin metal or plastic plate with a fine tolerance penetration covers the penetration in the front panel and is attached thereto. In economical embodiments, the rigid guarding attached to the mechanical support 110 on the sides that are not nearest to the bed side may be of a different quality material as to the material used for the front panel, so long as the material selected provides the required mechanical properties.

Further, embodiments are envisaged in which the control system infers the orientation of a user's body and automatically adjusts the profile of a mattress supporting surface accordingly. Zone heights are adjusted to values preset by the user corresponding to the inferred orientation.

A system to infer the orientation of a human body requires similar components to a control system, common components being: a power supply, electronics enclosure, logic processing circuitry and ideally memory. It is convenient and economical for an inference system to control share some or all of the common components in unified sensing, inference and control system. All previously described embodiments described are further extended to embodiments which include a sensing and inference system which may comprise: a circuit including programmable micro zo processor for processing logic, a memory for storing logic and data; and a pressure sensing strip 800 (FIG. 8) comprising a plurality of electronic pressure sensitive sensors in a flexible circuit which connects to the circuit.

Each electronic pressure sensitive sensor is covered by a plastic actuator 810 to concentrate the pressure. Whilst the sensors may be located anywhere under the user's body, in preferred embodiments the pressure sensing strip 800 is mounted on the under-pelvis lifter 500, or in the absence of an under-pelvis lifter, the pressure sensing strip 8 is mounted on a slat or other material forming the mattress support surface 7 in the under-pelvis zone. This region is disturbed least by breathing, movement of the arms to interact with alarm clocks and movement of the legs to adjust bedding.

Finally, all of the previous embodiments are extended to embodiments which include a bed actuation module containing one or more scissors lift systems, a bed frame 2, slats 6 or an alternative mattress supporting surface, a main mattress 10, and under-head mattress 250. In the context of a two-person (side by side) bed, preferred embodiments of the inventive matter have two scissors lift systems 1 installed in parallel, either separated by an interior rail (parallel to the side rails) or joined at an interior point forming a contiguous apparatus. Alternatively, to reduce cost, a unit may be installed to service only a side of the bed assessed to have the highest priority. In embodiments for two-person side-by-side beds, preferred embodiments comprise an interior rail or interior meeting point that is centered in the middle of the lateral range of the bed. However, embodiments of the inventive matter are also envisaged in which the scissors lift modules are unsymmetrical in their lateral dimension and wherein the interior rail is placed non-centrally as demanded by the market/end user. 

The following are claimed:
 1. A module that easily connects to wide range of bed frames for providing height adjustment in the under-head zone of the bed and retaining a pillow in position, comprising a lift system which comprises: a support comprising a bed mounting device, a lift mechanism which is connected to the support, an actuator which is connected to the support and to the lift mechanism, an adjustable height platform which is connected to the lift mechanism, a shoulder stop which is connected to the adjustable height platform, and a pillow-stop which is connected to the adjustable height platform wherein the actuator is operable to raise or lower the adjustable height platform, characterized by the bed mounting device which is connected to the support in a dimensional arrangement that enables the module to be installed in a wide variety of bed frames.
 2. A module according to claim 1 wherein the shoulder-stop and the adjustable height platform are one wherein a vertically oriented shoulder retaining surface is provided by a surface of the adjustable height platform.
 3. A module according to claim 1 wherein the adjustable height platform comprises of a first member, a second member and a flexible board that bridges and is supported by the first member and the second member which are collectively arranged to form a longitudinal suspension system.
 4. A module according to claim 1 wherein the support comprises a plurality of bed mounting devices.
 5. module according to claim 1 wherein the bed mounting device comprises a vibration isolation device.
 6. A module according to claim 1 wherein the actuator comprises an electric motor and a screw.
 7. A module according to claim 6 wherein the electric motor comprises a brushless direct current electric motor.
 8. A module according to claim 1, wherein the bed mounting device comprises a horizontal plate which allows the module to be supported on a member of a bed frame, and wherein each bed mounting device has a penetration to permit the module to be secured to the member of the bed frame using a fixing device such as a screw.
 9. A module for economically proving simultaneous height adjustment in two zones of a bed, comprising: a support; a lift system comprising a lift mechanism, an actuator and an adjustable height platform; another lift system comprising another lift mechanism and another adjustable height platform; wherein the actuator, the lift mechanism and the another lift mechanism are interconnected such that when the actuator extends the adjustable height platform moves in a first direction whilst the another adjustable height platform dependently moves in a direction contrary to the first direction, and when the actuator retracts the another adjustable height platform moves in a first direction whilst the adjustable height platform dependently moves in a direction contrary to the first direction.
 10. A module according to claim 9 wherein the adjustable height platform comprises a pillow-stop.
 11. A module according to claim 9 wherein the adjustable height platform comprises a shoulder-stop.
 12. A module according to claim 9 wherein the adjustable height platform comprises an under-head cushion.
 13. A control system equipped module that connects to a bed or mattress for economically providing manual and automatic height adjustment in two zones of a bed according to the bodily orientation of a users, comprising: a control system; a sensing and inference system; a human-machine interface; a support; a lift system comprising a lift mechanism, an actuator and an adjustable height platform; another lift system comprising another lift mechanism and another adjustable height platform; wherein the actuator, the lift mechanism and the another lift mechanism are interconnected such that when the actuator extends the adjustable height platform moves in a first direction whilst the another adjustable height platform dependently moves in a direction contrary to the first direction, and when the actuator retracts the another adjustable height platform moves in a first direction whilst the adjustable height platform dependently moves in a direction contrary to the first direction.
 14. A control system equipped module according to claim 13 wherein the adjustable height platform comprises a pillow-stop.
 15. A control system equipped module according to claim 14 wherein the adjustable height platform comprises a shoulder-stop.
 16. A control system equipped module according to claim 13, wherein the control system comprises data for a current target associated with the actuator, a current position associated with the actuator, a selected mode, and a data structure including a plurality of predetermined target positions and a plurality of modes, each a mode of the plurality of modes corresponding to a predetermined target position of the plurality of predetermined target positions, wherein the selected mode is selectable from one of the modes of plurality of modes, and wherein the control system affects a change in the actuator until the current position approximately equals the predetermined target position corresponding to the selected mode.
 17. A control system equipped module according to claim 16 wherein the human-machine interface comprises a plurality of Controls, each Control corresponding to one of the plurality of modes, wherein upon a click event the control system sets the value of the selected mode equal to the mode associated with the button involved in the click event.
 18. A control system equipped module according to claim 17 comprising a first control identified by a word or an image indicating that the first button is associated with a mode which is selectable to activate predetermined target positions allocated for use during a sexual activity.
 19. A control system equipped module according to claim 17 for automatically adjusting the profile of a bed surface to suit the posture of a user's body, wherein the sensing and inference system comprises: a sensor which creates orientation data according to an orientation of a user's body; a set of pre-programmed instructions; a data structure comprising a plurality of inference values, and an inference signal which is communicatively connected to the control system to convey one of the plurality of inference values, wherein the set of pre-programmed instructions determines which one of the plurality of inference values that is carried by the inference signal in dependence upon the orientation data, and wherein the control system has a second data structure associating each one of the plurality of inference values to one of the plurality of modes, and wherein the control system has an automatic mode selectable to cause the selected mode to be set equal to the mode which is associated with the inference value according to the second data structure.
 20. A module according to claim 1 wherein the lift system comprises a plurality of lift mechanisms, adjustable height platforms and actuators. 